use X3 worksV1.18.1 Motion App1.18
MC_MoveVelocity Speed control, limit S92, when the locked rotor reaches the torque stop, then execute MC_ Stop ，HCS01 Error F2037。
What are the good solutions?
No such problem was found on the XM controller.
Solved! Go to Solution.
1.The attachment is a parameter,
2.This function has some disadvantages for customers to meet their needs,
strAxsFixedStop.In.Position:=rPos;The position command can only support absolute values，
In this way, every time the position value needs to be updated, the size of the customer's workpiece will be inconsistent, and the operation will be very troublesome.
The customer wants to be the same as XM.
Did you try to use "DriveVelMode" = true at the MC_MoveVelocity to switch the drive from positioning mode to vel mode? Please beware that the cyclic data channel and the drive operation mode needs to be set accordingly (See also ML_AxsVelocity). The false parameter is a new feature that was not existing in MLC.
ML is the same functionality as MC. difference is that first is a function and second is PLCopen standard.
In my opinion there should be no difference between MLC and ctrlX CORE. I will try to get more information about your problem. Please tell me how you get the information of torque reached from our drive to the PLC.
Could you please do a record with the drive oscilloscope including the parameter P-0-0115, P-0-0116, S-0-0047, P-0-0047, S-0-0051. Set trigger to error F2037 using 30% pretrigger and choose maximum recording speed (<=2ms). Afterwards send and export or parameter save of all parameter again? Hopefully we can see what is going on in this moment.
We checked your data as for now this behavior as expected. There are two workarraounds possible to achieve what you want to do.